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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/advanced-capstone-spacecraft-dynamics-control-project
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课程名称：高级航天器动力学与控制项目 课程概述：本课程是高级航天器动力学与控制专业的第三门也是最后一门课程，假设您已完成前两门课程《带动量交换装置的姿态控制》和《航天器动力学的解析力学》。本项目课程研究一个复杂航天器系统的动力学，该系统包括一个刚性中心轴和一个附有铰接面板的结构，模拟具有时间变化几何形状的航天器。 课程内容首先探讨该系统的三维运动学，推导出机体和面板位置及速度状态的分析关系，并研究该系统的质心特性。 接着，使用简化系统运用拉格朗日运动方程预测动态响应。通过这些微分方程，我们能够施加姿态控制扭矩并研究附有弹簧铰接面板的航天器中心轴的旋转响应。此部分研究了两种开环控制扭矩解决方案。首先应用经典的最小时间开关控制方案，展示了该控制在某些条件下可能导致面板的不必要振荡。最后，应用经过滤波的开关控制，表明可以大幅度减小面板振荡，但代价是稍微延长的正常机动时间。 课程大纲： 第一部分：项目介绍 描述：欢迎来到高级航天器动力学与控制课程序列的项目部分。 第二部分：三维航天器中心轴-面板系统 描述：在本课中，我们研究包括一个刚性中心轴和一个铰接太阳能面板的航天器系统。中心轴和面板的质心位置相对于航天器系统的质心是自由移动的。推导出动态描述的基本特性。 第三部分：使用开关控制和滤波控制方案进行平面旋转控制 描述：在这一模块中，我们开发了受限于绕单一轴旋转的中心轴-面板航天器系统的微分运动方程。应用两种不同的开环扭矩解决方案以将航天器从静止状态重新定向到新的静态姿态。探讨了对经典开关控制方案应用一阶低通滤波器对控制输入的影响。
Part: 1
Title:Introduction to the Capstone Project
Description:Welcome to the capstone project of the course sequence on advanced spacecraft dynamics and control.
Part: 2
Title:3D Spacecraft Hub-Panel System
Description:In this lesson we study a spacecraft system that contains a rigid hub with a hinged solar panel. Here the hub and panel center of mass locations are free to move relative to the spacecraft system center of mass. Fundamental properties of the dynamical description are derived.
Part: 3
Title:Planar Rotation Control using Bang-Bang and Filtered Control Solutions
Description:In this module we develop the differential equations of motion of the hub-panel spacecraft system that is constrained to rotate about a single axis. Two different open-loop torque solutions are applied to reorient the spacecraft from rest to a new stationary attitude. The impact of filtering a classical bang-bang control solution is investigated by apply a first-order low-pass filter to the control input.
This capstone course is the 3rd and final course of the specialization Advanced Spacecraft Dynamics and Control. It assumes you have completed the prior courses on "Attitude Control with Momentum Exchange Devices" and "Analytical Mechanics for Spacecraft Dynamics". This project course investigates the dynamics of a complex spacecraft system where there is a rigid hub onto which a hinged panel is attached. This simulates a spacecraft with a time varying geometry. First, the three-dimensional kinematics of this system are explored. Analytical relationships of the body and panel position and velocity states are derived, and the center of mass properties of this system are explored. Next, a simplified system is used to use Lagrange's equations of motion to predict the dynamical response. With these differential equations we are then able to apply attitude control torques and investigate the rotational response if the spacecraft hub has a spring-hinged panel attached. Two open-loop control torque solutions are investigated. The classical minimum time bang-bang control solution is applied first, illustrating how such a control can yield unwanted panel oscillations. Finally, a filtered version of the bang-bang control is applied to illustrated how the panel oscillations can be significantly reduced at the cost of a slightly longer nominal maneuver time.
